Methods, processors, and tower cranes for one-click calibration of tower cranes

Abstract

This application relates to the field of construction machinery, specifically to a method, processor, and tower crane for one-click calibration. The method includes: positioning the tower crane according to a preset calibration dimension, so that a component in the tower crane corresponding to the preset calibration dimension is in a preset calibration position; the component includes at least one of a hook, a trolley, and a boom; obtaining a verification command, which includes a target value corresponding to the component; performing a verification operation on the tower crane corresponding to the component according to the verification command; obtaining the tower crane's structural parameters and sensor sampling values; determining the actual displayed value corresponding to the component's verification operation based on the preset calibration position, the tower crane's structural parameters, and the sampling values; controlling the tower crane to stop the verification operation when the actual displayed value reaches the target value; determining the component's current state parameters; and determining that the component is in the preset calibration position when the component's state parameters match the component's corresponding target parameters.

Description

Technical Field

[0001] This application relates to the field of construction machinery, and more specifically, to a method for one-click calibration of tower cranes, a processor, and a tower crane. Background Technology

[0002] Tower cranes, as a type of construction lifting equipment, have been widely used on construction sites. During construction, tower cranes generally operate in four dimensions: hook raising and lowering, trolley movement (inward and outward), slewing (left and right), and weight display. Current safety monitoring systems (TSM) can display the specific values ​​of height, amplitude, slewing, and weight. A common solution is to install corresponding sensors in these four dimensions to collect data, and then calculate and display the real-time values ​​of these four parameters using calibrated coefficients and the real-time collected parameters.

[0003] In current technology, tower crane calibration typically employs a two-point calibration method to calibrate a specific dimension of the tower crane. This involves inputting one parameter, corresponding to one sample value, and then calibrating using parameters from two points. To minimize the error between the calculated value and the actual operating distance, the location of these two points is crucial. Generally, two points as far apart as possible are chosen for calibration. For example, in the height direction, the points closest to the jib and closest to the ground are typically selected; for the radius, the innermost and outermost points of the trolley are chosen; for slewing, a rotation of at least 360° is generally required; and for weight, calibration typically requires an empty hook and a load greater than 50% of the maximum lifting capacity. Using this method results in significant distances for calibrating height, radius, and slewing distances. Furthermore, finding a suitable lifting object on-site is difficult when calibrating weight. If calibration is not performed according to the established requirements, errors will occur, leading to significant deviations between the data displayed on the TSM (Tower Safety Monitor) and the actual operating conditions, posing safety hazards during tower crane operation. Summary of the Invention

[0004] The purpose of this application is to provide a method, processor, and tower crane for one-click calibration of tower cranes that is not limited to two-point calibration.

[0005] To achieve the above objectives, this application provides a method for one-click calibration of tower cranes, the method comprising:

[0006] The tower crane is positioned according to a preset calibration dimension so that the components in the tower crane corresponding to the preset calibration dimension are in the preset calibration position. The components include at least one of the hook, trolley and boom.

[0007] Obtain the review instructions, which include the target values ​​corresponding to the component;

[0008] Perform the corresponding component verification operations on the tower crane according to the verification instructions;

[0009] Obtain the structural parameters of the tower crane and the sampled values ​​from the sensors;

[0010] The actual displayed value corresponding to the component verification operation is determined based on the preset calibration position, the tower crane's structural parameters, and the sampled values.

[0011] If the actual displayed value reaches the target value, control the tower crane to stop the verification operation;

[0012] Determine the current state parameters of the component;

[0013] When the state parameters of a component are consistent with the target parameters corresponding to the component, the component is determined to be in the preset calibration position.

[0014] In this embodiment of the application, determining the actual display value corresponding to the component's verification operation based on the preset calibration position, the tower crane's structural parameters, and the sampled value includes: determining a first calibration coefficient corresponding to each component based on the tower crane's structural parameters; determining a second calibration coefficient corresponding to each component based on the preset calibration position, the first calibration coefficient of each component, and the structural parameters corresponding to each component; and determining the actual display value corresponding to each component based on the first calibration coefficient, the second calibration coefficient, and the sampled value of each component.

[0015] In this embodiment of the application, determining the actual display value corresponding to each component based on the first calibration coefficient, the second calibration coefficient, and the sampled value of each component further includes: acquiring the sampled value of the sensor and the mechanism gear value corresponding to each component at preset time intervals; determining the direction value of each component based on the change range of the sampled value of each component and the mechanism gear value corresponding to each component; for each component, if the direction value of the component remains unchanged for a preset number of times, determining the direction value as the final direction value of the component; and determining the actual display value corresponding to each component based on the final direction value of each component, the first calibration coefficient, the second calibration coefficient, and the sampled value.

[0016] In this embodiment of the application, the method further includes: for each component, saving the first calibration coefficient and the second calibration coefficient corresponding to the final direction value of the component; after the tower crane is restarted, re-determining the current direction value of each component and the current sampling value of the sensor; and determining the current display value of each component based on the saved first calibration coefficient and second calibration coefficient, as well as the current direction value and the current sampling value.

[0017] In this embodiment, the tower crane includes a height sensor and a boom. The preset calibration dimension includes calibrating the position of the hook. The first calibration coefficient includes a first height calibration coefficient, and the second calibration coefficient includes a second height calibration coefficient. The verification command includes a stop-limit operation command, and the target value is the target height of the hook. Positioning the tower crane according to the preset calibration dimension, so that the components in the tower crane corresponding to the preset calibration dimension are respectively in preset calibration positions, includes: positioning the tower crane so that the hook is in a preset hook calibration position, where the preset hook calibration position is a position at a preset distance from the boom. The method further includes: determining a second height calibration coefficient based on the sampled value of the height sensor, the first height calibration coefficient, and structural parameters; determining the actual displayed value of the hook height based on the final direction value of the hook height, the first height calibration coefficient, the second height calibration coefficient, structural parameters, and the sampled value of the height sensor; controlling the hook rope length to extend and retract according to the stop-limit operation command until the actual displayed value of the hook height reaches the target height, then controlling the hook rope length to stop extending and retracting.

[0018] In this embodiment of the application, the first height calibration coefficient and the second height calibration coefficient are determined according to formula (1) and formula (2), respectively:

[0019] First height calibration coefficient = average length of single turn of wire rope on hoisting drum ÷ transmission ratio coefficient of height sensor ÷ accuracy of height sensor in turn (1);

[0020] Second height calibration coefficient = actual boom length of tower crane - first height calibration coefficient × sampled value of height sensor (2).

[0021] In this embodiment, determining the height direction value of the hook based on the change range of the height sensor's sampled value and the hoisting mechanism's gear position value includes: acquiring the height sensor's sampled value and the hoisting mechanism's gear position value corresponding to the hook at preset time intervals; determining the height direction value based on the height sensor's sampled value and the hoisting mechanism's gear position value; determining a preset first height direction value when the hoisting mechanism's gear position value indicates that the hook is in an ascending state and the change range of the height sensor's sampled value is decreasing; determining a preset second height direction value when the hoisting mechanism's gear position value indicates that the hook is in a descending state and the change range of the height sensor's sampled value is increasing; and determining the current height direction value as the final height direction value corresponding to the hook when the height direction value remains unchanged for a preset number of consecutive times.

[0022] In this embodiment of the application, the actual displayed value of the hook height, HeightValue, is determined according to formula (3):

[0023] HeightValue=(Flag1×heightdK×HeightSample+heightdB-nMaxRadius)÷iFall+dHookHeight Formula (3)

[0024] Among them, Flag1 is the final height direction value, heightdK is the first height calibration coefficient, HeightSample is the sampled value of the height sensor, heightdB is the second height calibration coefficient, nMaxRadius is the actual boom length of the tower crane, iFall is the actual boom ratio of the tower crane, and dHookHeight is the hook height of the tower crane.

[0025] In this embodiment of the application, the current state parameters of the hook include the current height value of the hook from the ground. For each component, when the state parameters of the component are consistent with the target parameters corresponding to the component, determining that the component is in the preset calibration position includes: when the height deviation between the current height value of the hook from the ground and the preset stopping position is within a preset height threshold, determining that the hook is in the preset calibration position.

[0026] In this embodiment, the tower crane includes a weight sensor, a preset calibration dimension including calibrating the weight of the hook, a verification command including a lifting command for the test item, a first calibration coefficient including a first weight calibration coefficient, and a second calibration coefficient including a second weight calibration coefficient. The verification operation of the tower crane corresponding to each component according to the verification command includes: controlling the hook to perform a lifting operation according to the lifting command to lift the test item using the hook; determining the actual displayed value corresponding to each component based on the first calibration coefficient, the second calibration coefficient, and the sampled value includes: determining the force value of a single wire rope of the hook based on the first weight calibration coefficient, the second weight calibration coefficient, and the sampled value of the weight sensor; and determining the actual displayed weight value of the test item based on the structural parameters and the force value.

[0027] In this embodiment of the application, the positioning operation of the tower crane according to the preset calibration dimension includes: positioning the tower crane so that the hook in the empty hook state is at the preset hook calibration position, the preset hook calibration position is a position at a preset distance from the boom; the method also includes: determining that the hook is at the preset calibration position when the weight deviation between the actual weight display value and the true weight of the test item is within a preset weight threshold.

[0028] In this embodiment, the structural parameters include the real-time tower crane height, the independent tower crane height, the tower crane ratio, and the density of the tower crane hoisting wire rope. Determining the actual displayed weight of the test item based on the structural parameters and the stress values ​​includes: when the real-time tower crane height is greater than the independent tower crane height, determining the actual displayed weight of the test item based on the stress value of a single wire rope, the density of the tower crane hoisting wire rope, the real-time tower crane height, the independent tower crane height, and the tower crane ratio; when the real-time tower crane height is less than or equal to the independent tower crane height, determining the actual displayed weight of the test item based on the stress value of a single wire rope and the tower crane ratio.

[0029] In this embodiment of the application, when the real-time height value of the tower crane is greater than the independent height value of the tower crane, the actual displayed weight of the test item is determined according to formula (4):

[0030] WeightValue=(dWeight-dRopeWeight×(dHeight-dIndependentHeight)÷1000)×iFall Formula (4)

[0031] Among them, WeightValue is the actual displayed weight value, dWeight is the stress value of a single wire rope, dRopeWeight is the density of the tower crane hoisting wire rope, dHeight is the real-time height value of the tower crane, dIndependentHeight is the independent height value of the tower crane, and iFall is the tower crane multiplier.

[0032] When the real-time height of the tower crane is less than or equal to the independent height of the tower crane, the actual displayed weight of the test item is determined according to formula (5):

[0033] WeightValue=dWeight×iFall Formula (5)

[0034] Among them, WeightValue is the actual displayed weight value, dWeight is the stress value of a single wire rope, and iFall is the tower crane multiplier.

[0035] In this embodiment of the application, determining the calibration coefficients corresponding to each component based on the structural parameters of the tower crane includes: determining the first weight calibration coefficient weightdK according to formula (6):

[0036] weightdK=dWeightSensorI÷dWeightSensorK÷cos(dWeightSensorA / 2) Formula (6)

[0037] Wherein, dWeightSensorI is the number of tension rings of the weight sensor, dWeightSensorK is the proportional coefficient of the weight sensor, and dWeightSensorA is the included angle of the wire rope of the weight limiter.

[0038] The second weight calibration coefficient is determined according to formula (7):

[0039] Second weight calibration coefficient = weight sensor sample value when zeroed (7);

[0040] The force value of a single wire rope of the hook is determined based on the first weight calibration coefficient, the second weight calibration coefficient, and the sampling value of the weight sensor, including: the force value of a single wire rope of the hook is determined according to formula (8):

[0041] dWeight=weightdK×(WeightSample-WeightdB) / 1000 Formula (8)

[0042] Wherein, dWeight is the force value of a single wire rope, weightdK is the first weight calibration coefficient, WeightSample is the sampled value of the weight sensor, and WeightdB is the second weight calibration coefficient.

[0043] In this embodiment, the tower crane includes an amplitude sensor and a trolley. The preset calibration dimension includes calibrating the trolley's position. The first calibration coefficient includes a first amplitude calibration coefficient, and the second calibration coefficient includes a second amplitude calibration coefficient. The verification instruction includes an external stop restriction operation instruction, and the target value is the target operating amplitude of the trolley. Positioning the tower crane according to the preset calibration dimension, so that components corresponding to the preset calibration dimension are respectively in preset calibration positions, includes: positioning the tower crane so that the trolley is in a preset trolley calibration position, where the preset trolley calibration position is the position where it touches the inner stop block of the tower crane. The method further includes: determining the second amplitude calibration coefficient based on the preset calibration position, the first amplitude calibration coefficient, and structural parameters; determining the actual displayed value of the trolley's operating amplitude based on the trolley's final amplitude direction value, the first amplitude calibration coefficient, the second amplitude calibration coefficient, and the sampled value of the amplitude sensor; controlling the trolley to run according to the external stop restriction operation instruction until the actual displayed value of the trolley's amplitude reaches the target operating amplitude, and then controlling the trolley to stop running.

[0044] In this embodiment of the application, the first amplitude calibration coefficient radiusdK and the second amplitude calibration coefficient radiusdB are determined according to formulas (9) and (10), respectively:

[0045] radiusdK=dTrolleyDrumCircle÷dTrolleyLimiterRato÷Encode1 Formula (9)

[0046] Where dTrolleyDrumCircle is the average length of the wire rope per turn of the amplitude drum, dTrolleyLimiterRato is the transmission ratio coefficient of the amplitude sensor, and Encode1 is the accuracy of the amplitude sensor per turn.

[0047] radiusdB=-radiusdK×RadiusSample formula (10)

[0048] Where radiusdK is the first amplitude calibration coefficient and RadiusSample is the sampled value of the amplitude sensor.

[0049] In this embodiment, determining the amplitude direction value of the trolley based on the change in the amplitude sensor's sampled value and the gear position value of the variable amplitude mechanism includes: acquiring the sampled value of the amplitude sensor and the corresponding gear position value of the variable amplitude mechanism at preset time intervals; determining the amplitude direction value based on the sampled value of the amplitude sensor and the gear position value of the variable amplitude mechanism; determining the amplitude direction value as a preset first amplitude direction value when the gear position value of the variable amplitude mechanism indicates that the trolley is in an outward running state and the change in the sampled value of the amplitude sensor is determined to be larger; determining the amplitude direction value as a preset second amplitude direction value when the gear position value of the variable amplitude mechanism indicates that the trolley is in an inward running state and the change in the sampled value of the amplitude sensor acquired at preset time intervals is determined to be smaller; and determining the current amplitude direction value as the final amplitude direction value corresponding to the trolley when the amplitude direction value remains unchanged for a preset number of consecutive times.

[0050] In this embodiment of the application, when the trolley is a single trolley, the actual displayed value of the trolley's amplitude, RadiusValue, is determined according to formula (11):

[0051] RadiusValue=Flag2×radiusdK×RadiusSample+radiusdB+dJibInLimiter+dTrolleyLength2-dTrolleyLength1+dTrolleyLength1 / 2 Formula (11)

[0052] Where Flag2 is the final amplitude direction value, radiusdK is the first amplitude calibration coefficient, RadiusSample is the sampled value of the amplitude sensor, radiusdB is the second amplitude calibration coefficient, dJibInLimiter is the distance from the tower crane's inner stop block to the slewing center, dTrolleyLength2 is the length of the tower crane's double trolleys, and dTrolleyLength1 is the length of the tower crane's single trolley.

[0053] When there are two trolleys, the actual displayed value of the trolley's amplitude, RadiusValue, is determined according to formula (12):

[0054] RadiusValue=Flag2×radiusdK×RadiusSample+radiusdB+dJibInLimiter+dTrolleyLength2 / 2 Formula (12)

[0055] Where Flag2 is the final amplitude direction value, radiusdK is the first amplitude calibration coefficient, RadiusSample is the sampled value of the amplitude sensor, radiusdB is the second amplitude calibration coefficient, dJibInLimiter is the distance from the tower crane's inner stop block to the slewing center, and dTrolleyLength2 is the length of the tower crane's double trolleys.

[0056] In this embodiment of the application, the current state parameters of the trolley include the amplitude value of the current distance of the trolley from the tip of the boom. For each component, when the state parameters of the component are consistent with the target parameters corresponding to the component, determining that the component is in the preset calibration position includes: when the deviation between the amplitude value of the current distance of the trolley from the tip of the boom and the amplitude value of the distance of the preset outer stop position from the tip of the boom is within a preset amplitude threshold, the trolley is determined to be in the preset calibration position.

[0057] In this embodiment, the tower crane includes a slewing sensor and a boom. The preset calibration dimension includes calibrating the position of the boom. The first calibration coefficient includes a first slewing calibration coefficient, and the second calibration coefficient includes a second slewing calibration coefficient. Positioning the tower crane according to the preset calibration dimension, so that components corresponding to the preset calibration dimension are respectively in preset calibration positions, includes: positioning the tower crane so that the boom is in a preset boom calibration position, where the preset boom calibration position is a position consistent with the direction of the tower crane's access platform. The method further includes: determining the second slewing calibration coefficient based on the preset calibration position, the first slewing calibration coefficient, and structural parameters; and determining the actual displayed value of the boom's slewing operation based on the final slewing direction value, the first slewing calibration coefficient, the second slewing calibration coefficient, and the sampled value of the slewing sensor.

[0058] In this embodiment of the application, the first slew calibration coefficient slewdK and the second slew calibration coefficient slewdB are determined according to formulas (13) and (14):

[0059] slewdK=360÷dSlewLimiterRato÷Encode2 formula (13)

[0060] Where dSlewLimiterRato is the transmission ratio coefficient of the rotary sensor, and Encode2 is the accuracy of the rotary sensor per revolution;

[0061] The second slewing calibration coefficient is determined according to formula (14):

[0062] slewdB=-slewdK×SlewSample formula (14)

[0063] Where slewdK is the first rotation calibration coefficient and SlewSample is the sampled value of the rotation sensor.

[0064] In this embodiment, determining the slewing direction value of the crane boom based on the change range of the slewing sensor sampling value and the slewing mechanism gear value includes: acquiring the slewing sensor sampling value and the slewing mechanism gear value corresponding to the crane boom at preset time intervals; determining the slewing direction value based on the slewing sensor sampling value and the slewing mechanism gear value; determining a preset first slewing direction value when the slewing mechanism gear value indicates that the crane boom is in a leftward state and the change range of the slewing sensor sampling value is determined to be large; determining a preset second slewing direction value when the slewing mechanism gear value indicates that the crane boom is in a rightward state and the change range of the slewing sensor sampling value is determined to be small; and determining the current slewing direction value as the final slewing direction value corresponding to the crane boom when the number of consecutively unchanged slewing direction values ​​reaches a preset number.

[0065] In this embodiment of the application, determining the actual slewing display value of the crane boom based on the final slewing direction value, the first slewing calibration coefficient, the second slewing calibration coefficient, and the sampled value of the slewing sensor includes: determining the actual slewing display value (SlewValue) of the crane boom according to formula (15):

[0066] SlewValue=Flag3×slewdK×SlewSample+slewdB Formula (14)

[0067] Where Flag3 is the final rotation direction value, slewdK is the first rotation calibration coefficient, SlewSample is the sampled value of the rotation sensor, and slewdB is the second rotation calibration coefficient.

[0068] In this embodiment of the application, if the tower crane model and / or tower crane boom length change, the calibration coefficient and direction value corresponding to each component are reset to zero.

[0069] A second aspect of this application provides a processor configured to perform the above-described method for one-click calibration of a tower crane.

[0070] A third aspect of this application provides a tower crane, comprising:

[0071] The sensor is configured to collect sampled values ​​of the tower crane in multiple dimensions;

[0072] A hook is configured to lift an object;

[0073] The hoisting drum is configured to connect to the hook and control the hoisting of the hook;

[0074] And the aforementioned processor.

[0075] Through the above technical solution, the processor can simultaneously calibrate the tower crane on multiple preset calibration dimensions without needing to select multiple points for calibration. Each component in each calibration dimension only needs to be calibrated once. After calibration, the processor can determine the calibration coefficients and direction values ​​of the components corresponding to each dimension based on the tower crane's structural parameters. It then determines the actual display value of each component in each dimension using the calibration coefficients, direction values, and the sampled values ​​from the corresponding sensors. Based on the actual display value and target display value of each component, the processor checks whether the component is in the calibration position according to the component's status parameters and the target parameters included in the verification command. This process simply determines whether the component corresponding to each dimension is in the calibration position. Only one calibration action is needed for the zero-point position of each dimension, reducing the steps and hassle of on-site calibration. Furthermore, one-click calibration combines calibration actions for multiple dimensions, completing the calibration work for all dimensions in a single operation. This simplifies the calibration operation while effectively ensuring the safety and improving the efficiency of the tower crane.

[0076] Other features and advantages of this application will be described in detail in the following detailed description section. Attached Figure Description

[0077] The accompanying drawings are provided to further illustrate the present application and form part of the specification. They are used together with the following detailed description to explain the present application, but do not constitute a limitation thereof. In the drawings:

[0078] Figure 1 This is a schematic flowchart illustrating a method for one-click calibration of a tower crane according to an embodiment of this application;

[0079] Figure 2 This is a schematic diagram illustrating the structure of a tower crane according to an embodiment of this application. Detailed Implementation

[0080] The specific embodiments of this application will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustration and explanation only and are not intended to limit this application.

[0081] It should be noted that if the embodiments of this application involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.

[0082] Furthermore, if the embodiments of this application involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, features defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions of various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. If the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed in this application.

[0083] Figure 1 A schematic flowchart illustrating a method for one-click calibration of a tower crane according to an embodiment of this application is shown. Figure 1 As shown in one embodiment of this application, a method for one-click calibration of a tower crane is provided, comprising the following steps:

[0084] Step 101: Position the tower crane according to the preset calibration dimension so that the components in the tower crane corresponding to the preset calibration dimension are in the preset calibration position. The components include at least one of the hook, trolley and boom.

[0085] The processor can acquire preset calibration dimensions for tower crane calibration. These preset calibration dimensions can include at least one of dimensions such as height, radius, slewing, and weight. Preset calibration dimensions can also be added or removed according to specific actual needs. After determining the calibration dimensions to be calibrated, the tower crane can be positioned according to these preset dimensions. That is, technicians can adjust the position and / or state of the components corresponding to each calibration dimension to ensure that each component is in its preset calibration position. For example, the component corresponding to the height and weight dimensions is the tower crane's hook, the component corresponding to the radius dimension is the tower crane's trolley, and the component corresponding to the slewing dimension is the tower crane's boom. Therefore, technicians can adjust the position of the components corresponding to each dimension according to the preset calibration dimensions to ensure they are in their preset zero-point calibration position.

[0086] Step 102: Obtain the review instruction, which includes the target value corresponding to the component.

[0087] Step 103: Perform the corresponding verification operation on the tower crane and its components according to the verification instructions.

[0088] Step 104: Obtain the structural parameters of the tower crane and the sampled values ​​of the sensors.

[0089] Step 105: Determine the actual displayed value corresponding to the component verification operation based on the preset calibration position, the tower crane's structural parameters, and the sampled values.

[0090] After positioning the tower crane according to preset calibration dimensions, the positions of the corresponding components in each dimension can be further verified to determine whether each component is in the preset calibration position. Specifically, the processor can obtain verification instructions, which may include target values ​​for each component. The processor performs verification operations on each component according to the verification instructions. When the processor controls each component to perform corresponding operations according to the verification instructions, it can obtain the structural parameters of the tower crane and the sampled values ​​of each sensor corresponding to each component. The processor can then determine the actual display value corresponding to each component based on the preset calibration position, the structural parameters of the tower crane, and the sampled values ​​of the sensors corresponding to each component.

[0091] In one embodiment, a first calibration coefficient corresponding to each component is determined based on the structural parameters of the tower crane; a second calibration coefficient corresponding to each component is determined based on the preset calibration position, the first calibration coefficient of each component, and the structural parameters corresponding to each component; and the actual display value corresponding to each component is determined based on the first calibration coefficient, the second calibration coefficient, and the sampled value of each component.

[0092] In one embodiment, determining the actual display value corresponding to each component based on the first calibration coefficient, the second calibration coefficient, and the sampled value of each component further includes: acquiring the sampled value of the sensor and the mechanism gear value corresponding to each component at preset time intervals; determining the direction value of each component based on the change range of the sampled value of each component and the mechanism gear value corresponding to each component; for each component, determining the direction value as the final direction value of the component when the direction value of the component remains unchanged for a preset number of times; and determining the actual display value corresponding to each component based on the final direction value of each component, the first calibration coefficient, the second calibration coefficient, and the sampled value.

[0093] The processor can determine the first calibration coefficient for each component based on the tower crane's structural parameters. Then, based on the preset calibration position, the determined first calibration coefficients for each component, and the corresponding structural parameters, it determines the second calibration coefficient for each component. Further, the processor can determine the direction value for each component based on the sensor sampling values ​​and the corresponding mechanism stop values, and determines the direction value each time by repeatedly collecting sensor sampling values ​​and mechanism stop values. When the processor determines that the direction value remains unchanged for a preset number of times, it can determine this direction value as the final direction value for that component. Finally, based on the final direction value, the first calibration coefficient, the second calibration coefficient, and the sensor sampling values, the processor determines the actual display value for each component.

[0094] In one embodiment, for each component, the first calibration coefficient and the second calibration coefficient corresponding to the final direction value of the component are saved; after the tower crane is restarted, the current direction value of each component and the current sampling value of the sensor are determined again; the current display value of each component is determined according to the saved first calibration coefficient and second calibration coefficient, as well as the current direction value and the current sampling value.

[0095] After the processor determines the final direction value based on the corresponding mechanism positions of each component and the sampled values ​​collected by the sensors of each component, it can determine the first calibration coefficient and the second calibration coefficient for each component based on the final direction value, and save the first calibration coefficient and the second calibration coefficient. After the tower crane restarts, it can determine the current direction value of each component and the current sampled value of the sensor again, and determine the actual display value of each component based on the first calibration coefficient and the second calibration coefficient saved when the final direction value was determined last time, as well as the current direction value and the current sampled value.

[0096] Step 106: If the actual displayed value reaches the target value, control the tower crane to stop the verification operation.

[0097] Step 107: Determine the current state parameters of the component.

[0098] Step 108: If the state parameters of the component are consistent with the target parameters corresponding to the component, determine that the component is in the preset calibration position.

[0099] The processor controls each component to operate according to the verification instructions. When the actual displayed value of each component reaches the set target value, the processor can control each component of the tower crane to stop the verification operation. It then determines the status parameters of each component and compares these parameters with their corresponding target parameters. If the current status parameters match the target parameters, the verification is successful, and the processor can determine that each component is in its preset calibration position. If the current status parameters do not match the target parameters, the verification is unsuccessful, and the processor can determine that the component is not in its preset calibration position. In this case, the component can be adjusted again, and the verification steps can be repeated until the verification is successful, confirming that each component is in its corresponding preset calibration position.

[0100] In one embodiment, the tower crane includes a height sensor and a boom. The preset calibration dimension includes calibrating the position of the hook. A first calibration coefficient includes a first height calibration coefficient, and a second calibration coefficient includes a second height calibration coefficient. The verification command includes a stop-limit operation command, and the target value is the target height of the hook. Positioning the tower crane according to the preset calibration dimension, so that components corresponding to the preset calibration dimension are respectively in preset calibration positions, includes: positioning the tower crane so that the hook is in a preset hook calibration position, where the preset hook calibration position is a position at a preset distance from the boom. The method further includes: determining a second height calibration coefficient based on the sampled value of the height sensor, the first height calibration coefficient, and structural parameters; determining the actual displayed value of the hook height based on the final height direction value of the hook, the first height calibration coefficient, the second height calibration coefficient, structural parameters, and the sampled value of the height sensor; and controlling the rope length of the hook to be extended or retracted according to the stop-limit operation command until the actual displayed value of the hook height reaches the target height, at which point the rope length extension or retraction is stopped.

[0101] In this embodiment, the tower crane includes a height sensor and a boom. The preset calibration dimension includes a height dimension, which calibrates the height of the hook. The tower crane component corresponding to the height dimension is the hook. First, the position of the hook can be adjusted so that the hook is at the preset height calibration position. The first calibration coefficient includes a first height calibration coefficient, and the second calibration coefficient includes a second height calibration coefficient. When calibrating the height of the hook, the verification command can be a lowering limit operation command for the hook, and the verification command can include the target height of the hook.

[0102] The preset hook calibration position refers to the preset zero-point position set for the hook height. When calibrating the hook height, the hook height needs to be adjusted to ensure it is at this preset zero-point position. Furthermore, the preset zero-point position can be set at a preset distance between the hook and the top of the boom. This preset distance can be set to 0.1 meters. The processor controls the hook to be in the preset hook calibration position.

[0103] In one embodiment, the first altitude calibration coefficient and the second altitude calibration coefficient are determined according to formulas (1) and (2), respectively:

[0104] First height calibration coefficient = average length of single turn of wire rope on hoisting drum ÷ transmission ratio coefficient of height sensor ÷ accuracy of height sensor in turn (1);

[0105] Second height calibration coefficient = actual boom length of tower crane - first height calibration coefficient × sampled value of height sensor (2).

[0106] After the control hook is in the preset hook calibration position, the processor can determine the first height calibration coefficient based on the structural parameters related to the height dimension. The processor can determine the first height calibration coefficient according to formula (1) based on the average length of the single turn of the hoisting drum wire rope of the tower crane, the transmission ratio coefficient of the height sensor, and the accuracy of the height sensor in one turn. After the processor obtains the first height calibration coefficient, it can determine the second height calibration coefficient according to the height sensor sampling value, the first height calibration coefficient, and the structural parameters through formula (2). When determining the second height calibration coefficient, it is assumed that the hook is in the preset hook calibration position at the preset height zero point.

[0107] After determining the first height calibration coefficient and the second height calibration coefficient, the processor can determine the actual displayed value of the hook height based on the final directional value of the hook height, the first height calibration coefficient, the second height calibration coefficient, and the sampled value of the height sensor.

[0108] In one embodiment, determining the height direction value of the hook based on the change range of the height sensor's sampled value and the hoisting mechanism's gear position value includes: acquiring the height sensor's sampled value and the hoisting mechanism's gear position value corresponding to the hook at preset time intervals; determining the height direction value based on the height sensor's sampled value and the hoisting mechanism's gear position value; determining a preset first height direction value when the hoisting mechanism's gear position value indicates that the hook is in an ascending state and the change range of the height sensor's sampled value is decreasing; determining a preset second height direction value when the hoisting mechanism's gear position value indicates that the hook is in a descending state and the change range of the height sensor's sampled value is increasing; and determining the current height direction value as the final height direction value corresponding to the hook when the height direction value remains unchanged for a preset number of consecutive times.

[0109] When calibrating the hook height, the processor can determine the hook's height direction value based on the height sensor's sampled value and the hoisting mechanism's gear position value. The processor can acquire the height sensor's sampled value and the corresponding hoisting mechanism gear position value at preset time intervals. Specifically, the hoisting mechanism gear position value is positive when the hoisting mechanism is in the lifting gear position, and negative when it is in the lowering gear position.

[0110] The processor can determine the hook's height direction value based on the height sensor's sampled values ​​and the corresponding hoisting mechanism's gear position value. When the hoisting mechanism gear position value acquired by the processor is positive, indicating the hook is in an ascending state, and the change in the height sensor's sampled values ​​acquired by the processor at preset time intervals decreases, the processor can determine that the current height direction value is a preset first height direction value, and set this preset first height direction value to 1. When the hoisting mechanism gear position value acquired by the processor is negative, indicating the hook is in a descending state, and the change in the height sensor's sampled values ​​acquired by the processor at preset time intervals increases, the processor can determine that the current height direction value is a preset second height direction value, and set this preset second height direction value to -1. If the height direction value determined by the processor remains unchanged for a preset number of consecutive times, the current height direction value is determined as the hook's final height direction value. For example, the processor can set the preset time interval to 500 milliseconds. Every 500 milliseconds, the processor reads the height sensor's sampled values ​​and the hoisting mechanism's gear position. When the hoisting mechanism gear position value is positive, the change in the read sensor's sampled values ​​decreases, and the processor can determine the height direction value to be 1. The processor can set a preset number of iterations to 3. If the processor determines the height direction value to be 1 for three consecutive times, it can determine this height direction value as the final direction value of the hook. When the hoisting mechanism's gear position is negative, the amplitude of the sensor sampling value changes more significantly, and the processor can determine the height direction value to be -1. If the processor determines the height direction value to be -1 for three consecutive times, it can determine this height direction value as the final direction value of the hook to be -1.

[0111] After the processor determines the final direction value corresponding to the hook, it can determine the actual displayed value of the hook height based on the previously obtained first height calibration coefficient, second height calibration coefficient, and the sampled value of the height sensor.

[0112] In one embodiment, the actual displayed value of the hook height, HeightValue, is determined according to formula (3):

[0113] HeightValue=(Flag1×heightdK×HeightSample+heightdB-nMaxRadius)÷iFall+dHookHeight Formula (3)

[0114] Among them, Flag1 is the final height direction value, heightdK is the first height calibration coefficient, HeightSample is the sampled value of the height sensor, heightdB is the second height calibration coefficient, nMaxRadius is the actual boom length of the tower crane, iFall is the actual boom ratio of the tower crane, and dHookHeight is the hook height of the tower crane.

[0115] The processor can determine the actual displayed height of the hook in real time. Based on the stop-limit operation command, the processor controls the length of the hook rope to extend and retract, thereby controlling the hook height. When the actual displayed height of the hook reaches the target height, the processor can stop extending and retracting the rope, ensuring the hook's operating height matches the target height. For example, if the target height in the verification operation command is 45 meters, the processor will stop extending and retracting the rope when the actual displayed height reaches 45 meters. At this point, the processor can determine the hook's current status parameters and verify whether these parameters match the corresponding target parameters.

[0116] In one embodiment, the current state parameters of the hook include the current height value of the hook above the ground. For each component, determining that the component is in a preset calibration position when the state parameters of the component are consistent with the target parameters of the component includes: determining that the hook is in a preset calibration position when the height deviation between the current height value of the hook above the ground and the preset stopping position is within a preset height threshold.

[0117] The current status parameters of the hook include its current height above the ground, and its target parameters include the height above the ground when the hook is at the target value, which is also the height of the preset stopping position. If the processor determines that the deviation between the current height above the ground and the preset stopping position is less than a preset threshold, the verification is considered successful, and the processor can determine that the hook is at the preset hook calibration position, i.e., the zero-height calibration position. For example, assuming the hook operates according to the verification operation command, when the actual displayed height of the hook reaches the target height, the processor controls the hook's rope length to stop extending or retracting. The processor determines the hook's current status parameters, i.e., its current height above the ground, and compares them with the height of the preset stopping position. Assume the processor sets the target height to 45 meters and the stopping position to 5 meters. If the actual displayed height reaches 45 meters, but the hook's height above the ground is only 4 meters, the verification has failed, and the processor can determine that the hook is not at the preset hook calibration position. If the actual height displayed on the hook reaches 45 meters, and the hook's height above the ground is also 5 meters, the processor can determine that the hook is at the preset hook calibration position, which is also the zero-point calibration position. In this case, technicians can adjust the hook height again and repeat the above verification steps until the verification is successful, thus confirming that the hook is at the corresponding preset hook calibration position, i.e., the preset zero-point calibration position of the height.

[0118] In one embodiment, the tower crane includes a weight sensor, a preset calibration dimension including calibration of the weight of the hook, a verification command including a lifting command for the test item, a first calibration coefficient including a first weight calibration coefficient, and a second calibration coefficient including a second weight calibration coefficient. Performing verification operations on the tower crane corresponding to each component according to the verification command includes: controlling the hook to perform a lifting operation according to the lifting command to lift the test item using the hook; determining the actual displayed value corresponding to each component based on the first calibration coefficient, the second calibration coefficient, and the sampled value includes: determining the force value of a single wire rope of the hook based on the first weight calibration coefficient, the second weight calibration coefficient, and the sampled value of the weight sensor; and determining the actual displayed weight value of the test item based on structural parameters and the force value.

[0119] In this embodiment, the tower crane's preset calibration dimension also includes a weight dimension, namely, calibrating the weight of the hook. The tower crane includes a weight sensor, and the processor performs a weight setting operation on the tower crane. When performing the weight setting operation, the processor first puts the hook in an empty hook state and controls the hook to a preset hook calibration position, which is a position at a preset distance from the boom, i.e., the zero-height calibration position. This calibrates the weight of the hook. When calibrating the hook's weight, the tower crane's verification command can be a lifting command for the hook. The first calibration coefficient includes a first weight calibration coefficient, and the second calibration coefficient includes a second weight calibration coefficient. The processor controls the hook to perform a lifting operation according to the verification command, causing the hook to lift the test item.

[0120] The processor can determine a first weight calibration coefficient based on structural parameters related to the hook weight, and a second weight calibration coefficient based on the sampled value of the weight sensor when the hook is zeroed (the sampled value of the weight sensor when the hook is empty). Then, based on the first calibration coefficient, the second calibration coefficient, and the weight sensor sampled value, the processor determines the force on a single wire rope when the hook is lifting an object.

[0121] In one embodiment, the first weight calibration coefficient weightdK is determined according to formula (6):

[0122] weightdK=dWeightSensorI÷dWeightSensorK÷cos(dWeightSensorA / 2) Formula (6)

[0123] Wherein, dWeightSensorI is the number of tension rings of the weight sensor, dWeightSensorK is the proportional coefficient of the weight sensor, and dWeightSensorA is the included angle of the wire rope of the weight limiter.

[0124] The second weight calibration coefficient is determined according to formula (7):

[0125] Second weight calibration coefficient = weight sensor sample value when zeroed (7);

[0126] The force value of a single wire rope of the hook is determined based on the first weight calibration coefficient, the second weight calibration coefficient, and the sampling value of the weight sensor, including: the force value of a single wire rope of the hook is determined according to formula (8):

[0127] dWeight=weightdK×(WeightSample-WeightdB) / 1000 Formula (8)

[0128] Wherein, dWeight is the force value of a single wire rope, weightdK is the first weight calibration coefficient, WeightSample is the sampled value of the weight sensor, and WeightdB is the second weight calibration coefficient.

[0129] The processor determines the force value of a single wire rope when the hook is lifting the test object based on the first weight calibration coefficient, the second weight calibration coefficient, and the sampling value of the weight sensor, and determines the actual displayed weight of the test item based on the force value of the single wire rope and the structural parameters.

[0130] In one embodiment, the structural parameters include the real-time tower crane height, the independent tower crane height, the tower crane leverage, and the density of the tower crane hoisting wire rope. Determining the actual displayed weight of the test item based on the structural parameters and the stress values ​​includes: when the real-time tower crane height is greater than the independent tower crane height, determining the actual displayed weight of the test item based on the stress value of a single wire rope, the density of the tower crane hoisting wire rope, the real-time tower crane height, the independent tower crane height, and the tower crane leverage; when the real-time tower crane height is less than or equal to the independent tower crane height, determining the actual displayed weight of the test item based on the stress value of a single wire rope and the tower crane leverage.

[0131] In one embodiment, when the real-time height value of the tower crane is greater than the independent height value of the tower crane, the actual displayed weight of the test item is determined according to formula (4):

[0132] WeightValue=(dWeight-dRopeWeight×(dHeight-dIndependentHeight)÷1000)×iFall Formula (4)

[0133] Among them, WeightValue is the actual displayed weight value, dWeight is the stress value of a single wire rope, dRopeWeight is the density of the tower crane hoisting wire rope, dHeight is the real-time height value of the tower crane, dIndependentHeight is the independent height value of the tower crane, and iFall is the tower crane multiplier.

[0134] When the real-time height of the tower crane is less than or equal to the independent height of the tower crane, the actual displayed weight of the test item is determined according to formula (5):

[0135] WeightValue=dWeight×iFall Formula (5)

[0136] Among them, WeightValue is the actual displayed weight value, dWeight is the stress value of a single wire rope, and iFall is the tower crane multiplier.

[0137] When the processor determines the actual weight display value based on the stress value of a single wire rope and structural parameters, it will determine the actual weight display value according to different situations. When the real-time height value of the tower crane is greater than the independent height value of the tower crane, the weight needs to be reduced by the weight of the extra wire rope. Therefore, the processor can determine the actual weight display value according to formula (4). When the real-time height value of the tower crane is less than or equal to the independent height value of the tower crane, no extra wire rope is used for the object being lifted by the hook, so there is no need to reduce the weight of the extra wire rope. In this case, the processor can determine the actual weight display value of the object being lifted by the hook according to formula (5).

[0138] In one embodiment, positioning the tower crane according to a preset calibration dimension includes: positioning the tower crane so that the hook in the empty hook state is at a preset hook calibration position, the preset hook calibration position being a position at a preset distance from the boom; the method further includes: determining that the hook is at the preset calibration position when the weight deviation between the actual displayed weight value and the true weight of the test item is within a preset weight threshold.

[0139] When technicians perform weight positioning operations on the tower crane, they can first put the hook in an empty hook state and control the hook to the preset hook calibration position. The preset hook calibration position is the position at a preset distance from the boom, which is also the zero height calibration position.

[0140] After determining the actual displayed weight of the tested item based on structural parameters and the stress value of a single wire rope on the hook, the processor compares the actual displayed weight with the true weight of the item. If the weight deviation between the actual displayed weight and the true weight of the tested item is within a preset weight threshold, the verification is considered successful, and the processor can determine that the hook is at the preset calibration position, which is the position of zero height when the hook is empty. If the weight deviation between the actual displayed weight and the true weight of the tested item is greater than the preset weight threshold, the verification is considered unsuccessful. In this case, technicians can readjust the hook height and repeat the above verification steps until the verification is successful, confirming that the hook is at the preset hook calibration position when empty, i.e., the preset zero-point position of the weight calibration.

[0141] In one embodiment, the tower crane includes an amplitude sensor and a trolley. The preset calibration dimension includes calibrating the position of the trolley. The first calibration coefficient includes a first amplitude calibration coefficient, and the second calibration coefficient includes a second amplitude calibration coefficient. The verification command includes an external stop restriction operation command, and the target value is the target running amplitude of the trolley. Positioning the tower crane according to the preset calibration dimension, so that components in the tower crane corresponding to the preset calibration dimension are respectively in preset calibration positions, includes: positioning the tower crane so that the trolley is in a preset trolley calibration position, where the preset trolley calibration position is the position where it touches the inner stop block of the tower crane. The method further includes: determining the second amplitude calibration coefficient based on the preset calibration position, the first amplitude calibration coefficient, and structural parameters; determining the actual displayed value of the trolley's running amplitude based on the final amplitude direction value of the trolley, the first amplitude calibration coefficient, the second amplitude calibration coefficient, and the sampled value of the amplitude sensor; controlling the trolley to run according to the external stop restriction operation command until the actual displayed value of the trolley's amplitude reaches the target running amplitude, and then controlling the trolley to stop running.

[0142] In this embodiment, the tower crane includes an amplitude sensor and a trolley. The preset calibration dimension includes an amplitude dimension, which calibrates the amplitude of the trolley. The tower crane component corresponding to the amplitude dimension is the trolley. First, technicians can adjust the position of the trolley so that it is in the preset amplitude calibration position. The first calibration coefficient includes a first amplitude calibration coefficient, and the second calibration coefficient includes a second amplitude calibration coefficient. When calibrating the amplitude of the trolley, the verification command can be an external stop restriction operation command for the trolley, and the verification command can include the target running amplitude of the trolley.

[0143] The preset trolley calibration position refers to the preset calibration zero point position set for the trolley's amplitude. That is, when calibrating the trolley's amplitude, the amplitude is adjusted so that the trolley is at the preset calibration zero point position. Furthermore, the preset calibration zero point position can be set to the position where the trolley just touches the inner stop of the tower crane. Technicians can control the trolley to be in the preset trolley calibration position.

[0144] In one embodiment, the first amplitude calibration coefficient radiusdK and the second amplitude calibration coefficient radiusdB are determined according to formulas (9) and (10), respectively:

[0145] radiusdK=dTrolleyDrumCircle÷dTrolleyLimiterRato÷Encode1 Formula (9)

[0146] Where dTrolleyDrumCircle is the average length of the wire rope per turn of the amplitude drum, dTrolleyLimiterRato is the transmission ratio coefficient of the amplitude sensor, and Encode1 is the accuracy of the amplitude sensor per turn.

[0147] radiusdB=-radiusdK×RadiusSample formula (10)

[0148] Where radiusdK is the first amplitude calibration coefficient and RadiusSample is the sampled value of the amplitude sensor.

[0149] Technicians can adjust the trolley position. After controlling the trolley to be in the preset trolley calibration position, the processor can determine the first amplitude calibration coefficient based on the tower crane structural parameters related to the amplitude dimension. The processor can determine the first amplitude calibration coefficient based on the average length of the single-turn wire rope of the luffing drum, the transmission ratio coefficient of the amplitude sensor, and the accuracy of the amplitude sensor in one turn using formula (9). After determining the first amplitude calibration coefficient, the processor can determine the second amplitude calibration coefficient based on the first amplitude calibration coefficient and the sampled value of the amplitude sensor using formula (10). When determining the second amplitude calibration coefficient, it is assumed that the trolley is in the preset trolley calibration position at the preset amplitude zero point.

[0150] After determining the first amplitude calibration coefficient and the second amplitude calibration coefficient, the processor can determine the actual displayed value of the car's amplitude based on the car's final amplitude direction value, the first amplitude calibration coefficient, the second amplitude calibration coefficient, and the sampled value of the amplitude sensor.

[0151] In one embodiment, determining the amplitude direction value of the trolley based on the change in the amplitude sensor's sampled value and the gear position value of the variable amplitude mechanism includes: acquiring the sampled value of the amplitude sensor and the corresponding gear position value of the variable amplitude mechanism at preset time intervals; determining the amplitude direction value based on the sampled value of the amplitude sensor and the gear position value of the variable amplitude mechanism; determining the amplitude direction value as a preset first amplitude direction value when the gear position value of the variable amplitude mechanism indicates that the trolley is in an outward running state and the change in the sampled value of the amplitude sensor is determined to be larger; determining the amplitude direction value as a preset second amplitude direction value when the gear position value of the variable amplitude mechanism indicates that the trolley is in an inward running state and the change in the sampled value of the amplitude sensor acquired at preset time intervals is determined to be smaller; and determining the current amplitude direction value as the final amplitude direction value corresponding to the trolley when the amplitude direction value remains unchanged for a preset number of consecutive times.

[0152] When calibrating the amplitude dimension, the processor can determine the amplitude direction value of the trolley based on the sampled value of the amplitude sensor and the value of the variable amplitude mechanism gear. The processor can acquire the sampled value of the amplitude sensor and the corresponding variable amplitude mechanism gear value of the trolley at preset time intervals. When the variable amplitude mechanism gear is in the outer gear position, the value of the variable amplitude mechanism gear is positive, and when the variable amplitude mechanism gear is in the inner gear position, the value of the variable amplitude mechanism gear is negative.

[0153] The processor can determine the amplitude direction value of the trolley based on the sampled values ​​of the amplitude sensor and the corresponding amplitude adjustment mechanism setting value. When the amplitude adjustment mechanism setting value acquired by the processor is positive, indicating that the trolley is moving outwards, and the amplitude sensor sampled values ​​acquired by the processor at preset time intervals show an increasing change in amplitude, the processor can determine that the current amplitude direction value is a preset first amplitude direction value, and set the preset first amplitude direction value to 1. When the amplitude adjustment mechanism setting value acquired by the processor is negative, indicating that the trolley is moving inwards, and the amplitude sensor sampled values ​​acquired by the processor at preset time intervals show a decreasing change in amplitude, the processor can determine that the current amplitude direction value is a preset second amplitude direction value, and set the preset second amplitude direction value to -1. When the amplitude direction value determined by the processor remains unchanged for a preset number of consecutive times, the current amplitude direction value is determined as the final amplitude direction value corresponding to the trolley. For example, the processor can set the preset time to 500 milliseconds. Every 500 milliseconds, the processor reads the amplitude sensor sampled values ​​and the amplitude adjustment mechanism setting. When the amplitude adjustment mechanism setting value is positive, the amplitude sensor sampled values ​​show an increasing change in amplitude, and the processor can determine the amplitude direction value to be 1. The processor can set the preset number of iterations to 3. If the processor determines the amplitude direction value to be 1 for three consecutive times, it can determine this amplitude direction value as the final amplitude direction value of 1. When the amplitude mechanism's gear value is negative, the amplitude sensor's sampled value changes less, and the processor can determine the amplitude direction value to be -1. If the processor determines the amplitude direction value to be -1 for three consecutive times, it can determine this amplitude direction value as the final amplitude direction value of -1 for the trolley.

[0154] After the processor determines the final direction value of the amplitude corresponding to the car, it can determine the actual displayed value of the car's amplitude based on the previously obtained first amplitude calibration coefficient, second amplitude calibration coefficient, and the sampled value of the amplitude sensor.

[0155] In one embodiment, when the trolley is a single trolley, the actual displayed value of the trolley's amplitude, RadiusValue, is determined according to formula (11):

[0156] RadiusValue=Flag2×radiusdK×RadiusSample+radiusdB+dJibInLimiter+dTrolleyLength2-dTrolleyLength1+dTrolleyLength1 / 2 Formula (11)

[0157] Where Flag2 is the final amplitude direction value, radiusdK is the first amplitude calibration coefficient, RadiusSample is the sampled value of the amplitude sensor, radiusdB is the second amplitude calibration coefficient, dJibInLimiter is the distance from the tower crane's inner stop block to the slewing center, dTrolleyLength2 is the length of the tower crane's double trolleys, and dTrolleyLength1 is the length of the tower crane's single trolley.

[0158] When there are two trolleys, the actual displayed value of the trolley's amplitude, RadiusValue, is determined according to formula (12):

[0159] RadiusValue=Flag2×radiusdK×RadiusSample+radiusdB+dJibInLimiter+dTrolleyLength2 / 2 Formula (12)

[0160] Where Flag2 is the final amplitude direction value, radiusdK is the first amplitude calibration coefficient, RadiusSample is the sampled value of the amplitude sensor, radiusdB is the second amplitude calibration coefficient, dJibInLimiter is the distance from the tower crane's inner stop block to the slewing center, and dTrolleyLength2 is the length of the tower crane's double trolleys.

[0161] The tower crane's trolleys are divided into single trolleys and double trolleys. When the processor determines that the tower crane's trolley is a single trolley, the processor can determine the actual displayed value of the single trolley's amplitude using formula (11) based on the determined final amplitude direction value, the first amplitude calibration coefficient, the sampled value of the amplitude sensor, the second amplitude calibration coefficient, the distance from the tower crane's inner stop block to the slewing center, the length of the tower crane's double trolleys, and the length of the tower crane's single trolley. When the processor determines that the tower crane's trolley is a double trolley, the processor can determine the actual displayed value of the double trolley's amplitude using formula (12) based on the final amplitude direction value, the first amplitude calibration coefficient, the sampled value of the amplitude sensor, the second amplitude calibration coefficient, the distance from the tower crane's inner stop block to the slewing center, and the length of the tower crane's double trolleys.

[0162] The processor can control the car's movement based on external stop restriction operation instructions. The processor can determine the actual displayed value of the car's movement amplitude. By controlling the car's movement according to these instructions, the processor can stop the car when the actual displayed amplitude reaches the target amplitude, thus ensuring the car's amplitude matches the target amplitude. For example, if the verification operation instruction includes a car's movement amplitude value X, and the processor controls the car's movement amplitude to reach X, the processor can stop the car, at which point the actual displayed amplitude matches the target amplitude. The processor can determine the car's state parameters when the actual displayed amplitude reaches the target amplitude value and compare these parameters with the corresponding target parameters to determine if they match.

[0163] In one embodiment, the current state parameters of the trolley include the amplitude value of the current distance of the trolley from the tip of the boom. For each component, when the state parameters of the component are consistent with the target parameters corresponding to the component, determining that the component is in the preset calibration position includes: when the deviation between the amplitude value of the current distance of the trolley from the tip of the boom and the amplitude value of the distance of the preset outer stop position from the tip of the boom is within a preset amplitude threshold, determining that the trolley is in the preset calibration position.

[0164] The current status parameters of the trolley include the distance between the trolley and the tip of the boom. When the actual displayed distance of the trolley reaches the target distance, the processor can determine the distance between the trolley and the tip of the boom. The target parameters of the trolley include the distance between the trolley and the tip of the boom when the trolley is at the target distance, which is also the distance between the trolley and the tip of the boom when the trolley is at the preset stop position. If the processor determines that the deviation between the current distance of the trolley and the distance of the trolley from the tip of the boom is less than a preset threshold, the verification is considered successful, and the processor can determine that the trolley is at the preset amplitude calibration position, i.e., the amplitude zero-point calibration position. For example, assuming the trolley is running according to the verification operation command, when the actual displayed distance of the trolley reaches the target distance, the processor controls the trolley to stop. The processor determines the current status parameters of the trolley, i.e., the current distance between the trolley and the tip of the boom, and compares it with the distance of the trolley from the tip of the boom at the preset stop position. Assume the processor sets the target amplitude value to X, and the distance of the trolley from the tip of the boom at the preset stop position to Y. If the trolley's actual amplitude display value reaches X, but the amplitude value between the trolley and the tip of the crane boom is not Y, and the deviation from Y is greater than the preset threshold, it indicates that the verification has failed. In this case, the processor can determine that the trolley is not in the preset trolley calibration position. If the trolley's actual amplitude display value reaches X, and the amplitude value between the trolley and the tip of the crane boom is also Y, then the processor can determine that the trolley is in the preset trolley calibration position, which is the amplitude zero-point calibration position. In this case, technicians can adjust the trolley's amplitude again and repeat the above verification steps until the verification passes, thus confirming that the trolley is in the corresponding preset trolley calibration position, i.e., the preset amplitude calibration zero-point position.

[0165] In one embodiment, the tower crane includes a slewing sensor and a boom. The preset calibration dimension includes calibrating the position of the boom. The first calibration coefficient includes a first slewing calibration coefficient, and the second calibration coefficient includes a second slewing calibration coefficient. Positioning the tower crane according to the preset calibration dimension, so that components corresponding to the preset calibration dimension are respectively in preset calibration positions, includes: positioning the tower crane so that the boom is in a preset boom calibration position, where the preset boom calibration position is a position consistent with the direction of the tower crane's entry platform. The method further includes: determining the second slewing calibration coefficient based on the preset calibration position, the first slewing calibration coefficient, and structural parameters; and determining the actual displayed value of the boom's slewing rotation based on the final slewing direction value, the first slewing calibration coefficient, the second slewing calibration coefficient, and the sampled value of the slewing sensor.

[0166] In this embodiment, the tower crane includes a slewing sensor and a boom. The preset calibration dimension includes the slewing dimension, that is, the slewing dimension of the boom is calibrated. The tower crane component corresponding to the slewing dimension is the boom. First, technicians can adjust the position of the boom so that it is in the preset slewing calibration position. The first calibration coefficient includes a first slewing calibration coefficient, and the second calibration coefficient includes a second slewing calibration coefficient.

[0167] The preset crane boom calibration position refers to the preset calibration zero point position set for the crane boom's rotation. That is, when calibrating the crane boom's rotation, the rotation dimension of the crane boom is adjusted so that the crane boom is at the preset calibration zero point position in the rotation dimension. Furthermore, the processor can control the crane boom to be at the preset calibration zero point position in the rotation dimension. The preset calibration zero point position in the rotation dimension can be set to a position where the crane boom is aligned with the direction of the tower crane's access platform.

[0168] In one embodiment, the first slew calibration coefficient slewdK and the second slew calibration coefficient slewdB are determined according to formulas (13) and (14):

[0169] slewdK=360÷dSlewLimiterRato÷Encode2 formula (13)

[0170] Where dSlewLimiterRato is the transmission ratio coefficient of the rotary sensor, and Encode2 is the accuracy of the rotary sensor per revolution;

[0171] The second slewing calibration coefficient is determined according to formula (14):

[0172] slewdB=-slewdK×SlewSample formula (14)

[0173] Where slewdK is the first rotation calibration coefficient and SlewSample is the sampled value of the rotation sensor.

[0174] After the technicians adjust the boom to a preset boom calibration position, the processor can determine the first slewing calibration coefficient based on the structural parameters related to the slewing dimension. The processor can determine the first slewing calibration coefficient using the tower crane's slewing sensor transmission ratio coefficient and the slewing sensor's current revolution accuracy according to formula (13). After obtaining the first slewing calibration coefficient, the processor can determine the second slewing calibration coefficient using the first slewing calibration coefficient, the slewing sensor's sampled value, and the structural parameters according to formula (14). When determining the second slewing calibration coefficient, it is assumed that the boom is at a preset boom calibration position with a preset slewing zero point.

[0175] After determining the first and second slewing calibration coefficients, the processor can determine the actual displayed value of the slewing of the crane boom based on the final slewing direction value of the boom, the first and second slewing calibration coefficients, and the sampled value of the slewing sensor.

[0176] In one embodiment, determining the slewing direction value of the crane boom based on the change range of the slewing sensor sample value and the slewing mechanism gear value includes: acquiring the slewing sensor sample value and the slewing mechanism gear value corresponding to the crane boom at preset time intervals; determining the slewing direction value based on the slewing sensor sample value and the slewing mechanism gear value; determining a preset first slewing direction value when the slewing mechanism gear value indicates that the crane boom is in a leftward state and the change range of the slewing sensor sample value is determined to be large; determining a preset second slewing direction value when the slewing mechanism gear value indicates that the crane boom is in a rightward state and the change range of the slewing sensor sample value is determined to be small; and determining the current slewing direction value as the final slewing direction value corresponding to the crane boom when the number of consecutively unchanged slewing direction values ​​reaches a preset number.

[0177] When calibrating the slewing dimension, the processor can determine the slewing direction of the boom based on the sampled values ​​from the slewing sensor and the slewing mechanism gear position value. The processor can acquire the sampled values ​​from the slewing sensor and the corresponding slewing mechanism gear position value of the boom at preset time intervals. When the slewing mechanism gear is in the left gear position, the slewing mechanism gear position value is positive, and when the slewing mechanism gear is in the right gear position, the slewing mechanism gear position value is negative.

[0178] The processor can determine the slewing direction of the crane boom based on the sampled values ​​from the slewing sensor and the corresponding slewing mechanism gear position. When the slewing mechanism gear position value acquired by the processor is positive, indicating the crane boom is slewing to the left, and the change in the slewing sensor sampled values ​​acquired by the processor at preset time intervals increases, the processor can determine the current slewing direction as a preset first slewing direction value and set it to 1. When the slewing mechanism gear position value acquired by the processor is negative, indicating the crane boom is slewing to the right, and the change in the slewing sensor sampled values ​​acquired by the processor at preset time intervals decreases, the processor can determine the current slewing direction as a preset second slewing direction value and set it to -1. If the slewing direction value determined by the processor remains unchanged for a preset number of consecutive times, the current slewing direction value is determined as the final slewing direction value corresponding to the crane boom. For example, the processor can be preset to a time interval of 500 milliseconds. Every 500 milliseconds, the processor reads the sampled value of the slewing sensor and the slewing mechanism setting. When the slewing mechanism setting value is positive, the change in the read slewing sensor sampled value is larger, and the processor can determine the slewing direction value as 1. The processor can be preset to a count of 3. If the processor determines the slewing direction value to be 1 for three consecutive times, it can determine this slewing direction value as the final slewing direction value of 1. When the slewing mechanism setting value is negative, the change in the read slewing sensor sampled value is smaller, and the processor can determine the slewing direction value as -1. If the processor determines the slewing direction value to be -1 for three consecutive times, it can determine this slewing direction value as -1 as the final slewing direction value of the boom as -1.

[0179] After the processor determines the final rotation direction value corresponding to the boom, it can determine the actual displayed value of the boom rotation based on the previously obtained first rotation calibration coefficient, second rotation calibration coefficient, and the sampled value of the rotation sensor.

[0180] In one embodiment, determining the actual displayed value of the boom's rotation based on the final rotation direction value, the first rotation calibration coefficient, the second rotation calibration coefficient, and the sampled value of the rotation sensor includes: determining the actual displayed value of the boom's rotation, SlewValue, according to formula (15):

[0181] SlewValue=Flag3×slewdK×SlewSample+slewdB Formula (14)

[0182] Where Flag3 is the final rotation direction value, slewdK is the first rotation calibration coefficient, SlewSample is the sampled value of the rotation sensor, and slewdB is the second rotation calibration coefficient.

[0183] The processor can determine the actual displayed value of the boom rotation according to formula (15).

[0184] In one embodiment, if the tower crane model and / or tower crane boom length changes, the calibration coefficient and direction value corresponding to each component are reset to zero.

[0185] When the tower crane model and / or tower crane boom length change, the tower crane's structural parameters also change. At this time, it is necessary to reset the calibration coefficients and direction values ​​corresponding to each component to zero, and determine the calibration coefficients and direction values ​​corresponding to the changed tower crane based on the new structural parameters of the changed tower crane.

[0186] In one embodiment, a processor is provided, configured to perform any of the above-described methods for one-click calibration of a tower crane.

[0187] The processor can perform a single calibration to position each component in a preset location for each dimension. A single calibration can position all components for all dimensions.

[0188] Through the above technical solution, the processor can simultaneously calibrate multiple dimensions of the tower crane, and calibration for each dimension does not require selecting multiple reference points. Each component corresponding to each dimension only needs to be calibrated once. After technicians calibrate each component according to the calibration position, the processor can determine the calibration coefficient and direction value of the component corresponding to each dimension through the structural parameters of the tower crane. It then determines the actual display value of the component corresponding to each dimension using the calibration coefficient, direction value, and the sampled values ​​of the corresponding sensors. Based on the actual display value and target display value of each component, the processor determines whether the component is in the calibration position according to the status parameters of each component and the target parameters included in the verification command. This process simply involves determining whether the component corresponding to each dimension is in the calibration position. Only one calibration action is needed for the zero point position of each dimension, reducing the steps and hassle of on-site calibration. Furthermore, one-click calibration can combine the calibration actions of multiple dimensions, completing the calibration work for all dimensions in one go. This simplifies the calibration operation and effectively ensures the safety and efficiency of tower crane operation.

[0189] In one embodiment, such as Figure 2 The diagram illustrates the structure of a tower crane 200, which includes: a sensor 201 configured to collect sampled values ​​of the tower crane 200 in multiple dimensions; a hook 202 configured to lift an object; a hoisting drum 203 configured to connect to the hook 202 and control the lifting of the hook 202; and the aforementioned processor 204.

[0190] In one embodiment, such as Figure 2The diagram illustrates the structure of tower crane 200. Sensor 201 includes: a height sensor 201-1 configured to collect sampled height values; an amplitude sensor 201-2 configured to collect sampled amplitude values; a slewing sensor 201-3 configured to collect sampled slewing values; and a weight sensor 201-4 configured to collect sampled weight values. Tower crane 200 also includes a trolley 205 and a boom 206. The trolley 205 includes a single trolley 205-1 and a double trolley 205-2.

[0191] This application provides a device including a processor, a memory, and a program stored in the memory and executable on the processor. When the processor executes the program, it implements the steps of the above-described method for one-click calibration of tower cranes.

[0192] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0193] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0194] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0195] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0196] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0197] Memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0198] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0199] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0200] The above are merely embodiments of this application and are not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A method for one-button calibration of tower cranes, characterized in that, The method includes: The tower crane is positioned according to a preset calibration dimension so that the components of the tower crane corresponding to the preset calibration dimension are in preset calibration positions. The components include at least one of a hook, a trolley, and a boom. Obtain a review instruction, the review instruction including a target value corresponding to the component; The tower crane is subjected to a verification operation corresponding to the component according to the verification instruction; Obtain the structural parameters of the tower crane and the sampled values ​​of the sensors; The actual displayed value corresponding to the component performing the verification operation is determined based on the preset calibration position, the structural parameters of the tower crane, and the sampled value. If the actual displayed value reaches the target value, control the tower crane to stop the verification operation; Determine the current state parameters of the component; If the state parameters of the component are consistent with the target parameters corresponding to the component, the component is determined to be in a preset calibration position.

2. The method according to claim 1, characterized in that, The step of determining the actual displayed value corresponding to the component performing the verification operation based on the preset calibration position, the structural parameters of the tower crane, and the sampled value includes: Determine the first calibration coefficient corresponding to each component based on the structural parameters of the tower crane; The second calibration coefficients for each component are determined based on the preset calibration position, the first calibration coefficients of each component, and the structural parameters corresponding to each component. The actual display value for each component is determined based on its first calibration coefficient, second calibration coefficient, and sampled value.

3. The method according to claim 2, characterized in that, The step of determining the actual display value corresponding to each component based on the first calibration coefficient, the second calibration coefficient, and the sampled value of each component also includes: The sensor's sample value and the corresponding mechanism position value for each component are acquired at preset time intervals. The direction value of each component is determined based on the variation range of the sampled value of each component and the corresponding mechanism gear value. For each component, if the direction value of the component remains unchanged for a preset number of times, the direction value is determined as the final direction value of the component. The actual display value for each component is determined based on its final orientation value, first calibration coefficient, second calibration coefficient, and sampled value.

4. The method according to claim 3, characterized in that, The method further includes: For each component, save the first calibration coefficient and the second calibration coefficient corresponding to the final direction value of the component; After the tower crane restarts, the current orientation value of each component and the current sampled value of the sensor are determined again. The current display value of each component is determined based on the saved first and second calibration coefficients, as well as the current direction value and the current sample value.

5. The method according to claim 3, characterized in that, The tower crane includes a height sensor and a boom. The preset calibration dimension includes calibrating the position of the hook. The first calibration coefficient includes a first height calibration coefficient, the second calibration coefficient includes a second height calibration coefficient, the verification instruction includes a stop restriction operation instruction, and the target value is the target height of the hook. The step of positioning the tower crane according to a preset calibration dimension, so that the components of the tower crane corresponding to the preset calibration dimension are respectively in preset calibration positions, includes: The tower crane is positioned so that the hook is at a preset hook calibration position, which is a position at a preset distance from the boom. The method further includes: The second height calibration coefficient is determined based on the sampled value of the height sensor, the first height calibration coefficient, and the structural parameters; The actual displayed value of the hook height is determined based on the final directional value of the hook height, the first height calibration coefficient, the second height calibration coefficient, the structural parameters, and the sampled value of the height sensor. The rope length of the hook is controlled to be extended or retracted according to the lower stop restriction operation command until the actual displayed height of the hook reaches the target height, at which point the rope length of the hook is controlled to stop extending or retracting.

6. The method according to claim 5, characterized in that, The first height calibration coefficient and the second height calibration coefficient are determined according to formulas (1) and (2) respectively: Official (1); Official (2).

7. The method according to claim 5, characterized in that, Determining the height direction value of the hook based on the variation range of the height sensor's sampled value and the hoisting mechanism's gear position includes: The sampling value of the height sensor and the hoisting mechanism gear value corresponding to the hook are acquired at preset time intervals; The height direction value is determined based on the sampled value of the height sensor and the gear value of the lifting mechanism; When the hoisting mechanism gear value indicates that the hook is in an upward state and the change in the sampling value of the height sensor is determined to be small, the height direction value is determined to be a preset first height direction value. When the hoisting mechanism gear value indicates that the hook is in a descending state and it is determined that the change in the sampling value of the height sensor has increased, the height direction value is determined to be a preset second height direction value; If the height direction value remains unchanged for a preset number of consecutive times, the current height direction value is determined as the final height direction value corresponding to the hook.

8. The method according to claim 5, characterized in that, The actual displayed value of the hook height, HeightValue, is determined according to formula (3): Official (3) in, For the final orientation value of the height, The first height calibration coefficient, The sampled values ​​of the height sensor, For the second height calibration coefficient, For the actual boom length of the tower crane, For the actual multiplier of the tower crane, This refers to the height of the tower crane hook.

9. The method according to claim 5, characterized in that, The current status parameters of the hook include the current height of the hook above the ground. For each component, determining that the component is at a preset calibration position when the component's status parameters match the component's corresponding target parameters includes: If the current height of the hook above the ground deviates from the height of the preset stopping position by a preset height threshold, the hook is determined to be in the preset calibration position.

10. The method according to claim 2, characterized in that, The tower crane includes a weight sensor, the preset calibration dimension includes calibrating the weight of the hook, the verification command includes a lifting command for the test item, the first calibration coefficient includes a first weight calibration coefficient, and the second calibration coefficient includes a second weight calibration coefficient. The step of performing verification operations on the tower crane corresponding to each component according to the verification instruction includes: controlling the hook to perform a lifting operation according to the lifting instruction, so as to lift the test item by the hook; The process of determining the actual display value corresponding to each component based on the first calibration coefficient, the second calibration coefficient, and the sampled value includes: The force value of a single wire rope of the hook is determined based on the first weight calibration coefficient, the second weight calibration coefficient, and the sampled value of the weight sensor. The actual displayed weight of the test item is determined based on the structural parameters and the force value.

11. The method according to claim 10, characterized in that, The step of positioning the tower crane according to the preset calibration dimension includes: The tower crane is positioned so that the hook, which is in an empty hook state, is at a preset hook calibration position, which is a position at a preset distance from the boom. The method further includes: If the weight deviation between the actual displayed weight value and the true weight of the test item is within a preset weight threshold, the hook is determined to be in a preset calibration position.

12. The method according to claim 10, characterized in that, The structural parameters include the tower crane's real-time height, independent tower crane height, tower crane leverage, and tower crane hoisting wire rope density. The determination of the actual displayed weight of the test item based on the structural parameters and the stress values ​​includes: When the real-time height value of the tower crane is greater than the independent height value of the tower crane, the actual displayed weight value of the test item is determined based on the stress value of the single wire rope, the density of the tower crane hoisting wire rope, the real-time height value of the tower crane, the independent height value of the tower crane, and the tower crane magnification. When the real-time height of the tower crane is less than or equal to the independent height of the tower crane, the actual displayed weight of the test item is determined based on the stress value of the single wire rope and the tower crane's multiplier.

13. The method according to claim 12, characterized in that, If the real-time height value of the tower crane is greater than the independent height value of the tower crane, the actual displayed weight of the test item is determined according to formula (4): Official (4) in, This is the actual displayed weight value. This represents the stress value of a single steel wire rope. For the density of the tower crane hoisting wire rope, This is the real-time height value of the tower crane. This refers to the independent height value of the tower crane. Tower crane ratio; When the real-time height of the tower crane is less than or equal to the independent height of the tower crane, the actual displayed weight of the test item is determined according to formula (5): Official (5) in, This is the actual displayed weight value. This represents the stress value of a single steel wire rope. This refers to the tower crane ratio.

14. The method according to claim 10, characterized in that, The calibration coefficients corresponding to each component are determined based on the structural parameters of the tower crane, including: determining the first weight calibration coefficient weightdK according to formula (6): Official (6) in, The number of tension rings for the weight sensor. This is the proportional coefficient for the weight sensor. The included angle of the steel wire rope for the weight limiter; The second weight calibration coefficient is determined according to formula (7): Official (7); Determining the force value of a single wire rope of the hook based on the first weight calibration coefficient, the second weight calibration coefficient, and the sampled value of the weight sensor includes: determining the force value of a single wire rope of the hook according to formula (8): Official (8) in, This represents the stress value of a single steel wire rope. This is the first weight calibration factor. These are the sampled values ​​from the weight sensor. This is the second weight calibration factor.

15. The method according to claim 3, characterized in that, The tower crane includes an amplitude sensor and a trolley. The preset calibration dimension includes calibrating the position of the trolley. The first calibration coefficient includes a first amplitude calibration coefficient, the second calibration coefficient includes a second amplitude calibration coefficient, the verification instruction includes an external stop restriction operation instruction, and the target value is the target running amplitude of the trolley. The step of positioning the tower crane according to a preset calibration dimension, so that the components of the tower crane corresponding to the preset calibration dimension are respectively in preset calibration positions, includes: The tower crane is positioned so that the trolley is in a preset trolley calibration position, which is the position where it touches the inner stop block of the tower crane; The method further includes: The second amplitude calibration coefficient is determined based on the preset calibration position, the first amplitude calibration coefficient, and the structural parameters; The actual displayed value of the amplitude of the trolley is determined based on the final direction value of the amplitude of the trolley, the first amplitude calibration coefficient, the second amplitude calibration coefficient, and the sampled value of the amplitude sensor. The trolley is controlled to run according to the external stop restriction operation command until the actual displayed value of the trolley's amplitude reaches the target running amplitude, at which point the trolley is controlled to stop running.

16. The method according to claim 15, characterized in that, The first amplitude calibration coefficient radiusdK and the second amplitude calibration coefficient radiusdB are determined according to formulas (9) and (10) respectively: Official (9) in, The average length of a single turn of wire rope on the luffing drum, For the amplitude sensor transmission ratio coefficient, For the amplitude sensor's current circle accuracy; Official (10) Wherein, radiusdK is the first amplitude calibration coefficient, The sampled value is the amplitude sensor value.

17. The method according to claim 15, characterized in that, Determining the amplitude direction value of the trolley based on the change in the amplitude sensor's sampled value and the gear position value of the amplitude-changing mechanism includes: The sampled value of the amplitude sensor and the gear value of the variable amplitude mechanism corresponding to the trolley are acquired at preset time intervals; The amplitude direction value is determined based on the sampled value of the amplitude sensor and the gear value of the amplitude-changing mechanism; When the variable amplitude mechanism gear value indicates that the trolley is in an outward running state and it is determined that the change amplitude of the sampled value of the amplitude sensor has increased, the amplitude direction value is determined to be a preset first amplitude direction value; When the variable amplitude mechanism gear value indicates that the trolley is in an inward running state and the change amplitude of the sampled value of the amplitude sensor acquired at preset time intervals is smaller, the amplitude direction value is determined to be a preset second amplitude direction value. If the amplitude direction value remains unchanged for a preset number of consecutive times, the current amplitude direction value is determined as the final amplitude direction value corresponding to the trolley.

18. The method according to claim 15, characterized in that, When the trolley is a single trolley, the actual displayed value of the trolley's amplitude, RadiusValue, is determined according to formula (11): Official (11) in, The final direction value of the amplitude, The first amplitude calibration coefficient, The sampled value of the amplitude sensor, For the second amplitude calibration coefficient, The distance from the inner stop block of the tower crane to the center of rotation, The length of the tower crane's double trolleys, The length of a single trolley of the tower crane; When the trolley is a dual-trolley configuration, the actual displayed amplitude value RadiusValue of the trolley is determined according to formula (12): Official (12) in, The final direction value of the amplitude, The first amplitude calibration coefficient, The sampled value of the amplitude sensor, For the second amplitude calibration coefficient, The distance from the inner stop block of the tower crane to the center of rotation, The length of the tower crane's two trolleys.

19. The method according to claim 15, characterized in that, The current state parameters of the trolley include the magnitude of the distance between the trolley and the tip of the crane boom. For each component, determining that the component is at a preset calibration position when the component's state parameters match the corresponding target parameters includes: If the deviation between the current distance of the trolley to the tip of the boom and the distance of the trolley to the tip of the boom at the preset external stopping position is within a preset amplitude threshold, the trolley is determined to be at a preset calibration position.

20. The method according to claim 3, characterized in that, The tower crane includes a slewing sensor and a lifting boom. The preset calibration dimension includes calibrating the position of the lifting boom. The first calibration coefficient includes a first slewing calibration coefficient, and the second calibration coefficient includes a second slewing calibration coefficient. The step of positioning the tower crane according to a preset calibration dimension, so that the components of the tower crane corresponding to the preset calibration dimension are respectively in preset calibration positions, includes: The tower crane is positioned so that the boom is in a preset boom calibration position, which is a position consistent with the direction of the tower crane's lead-in platform. The method further includes: The second rotation calibration coefficient is determined based on the preset calibration position, the first rotation calibration coefficient, and the structural parameters; The actual displayed value of the slewing of the crane boom is determined based on the final slewing direction value, the first slewing calibration coefficient, the second slewing calibration coefficient, and the sampled value of the slewing sensor.

21. The method according to claim 20, characterized in that, The first slew calibration coefficient slewdK and the second slew calibration coefficient slewdB are determined according to formulas (13) and (14): Official (13) in, For the transmission ratio coefficient of the rotary sensor, For the rotation sensor's accuracy per revolution; The second slewing calibration coefficient is determined according to formula (14): Official (14) Wherein, slewdK is the first slew calibration coefficient, The value is the sampled value of the rotary sensor.

22. The method according to claim 20, characterized in that, Determining the slewing direction value of the lifting boom based on the change range of the slewing sensor sample value and the gear value of the slewing mechanism includes: The sampled value of the slewing sensor and the slewing mechanism gear value corresponding to the lifting arm are acquired at preset time intervals. The rotation direction value is determined based on the sampled value of the rotation sensor and the gear position value of the rotation mechanism; When the rotation mechanism gear value indicates that the boom is in a leftward state and it is determined that the change range of the sampling value of the rotation sensor has increased, the rotation direction value is determined to be a preset first rotation direction value. When the rotation mechanism gear value indicates that the boom is in a rightward position and the change in the sampling value of the rotation sensor is determined to be small, the rotation direction value is determined to be a preset second rotation direction value. If the number of times the rotation direction value remains unchanged reaches a preset number, the current rotation direction value is determined as the final rotation direction value corresponding to the crane boom.

23. The method according to claim 20, characterized in that, Determining the actual slewing display value of the crane boom based on the final slewing direction value, the first slewing calibration coefficient, the second slewing calibration coefficient, and the sampled value of the slewing sensor includes: determining the actual slewing display value (SlewValue) of the crane boom based on formula (15): Official (14) in, The final direction value of the rotation, The first slewing calibration coefficient, The sampled value of the rotary sensor, This is the second slewing calibration coefficient.

24. The method according to claim 4, characterized in that, The method further includes: in the event that the model of the tower crane and / or the boom length of the tower crane changes, resetting the calibration coefficient and direction value corresponding to each component to zero.

25. A processor, characterized in that, It is configured to perform the method for one-click calibration of tower cranes as described in any one of claims 1 to 24.

26. A tower crane, characterized in that, include: Sensors are configured to collect sampled values ​​of the tower crane in multiple dimensions; A hook is configured to lift an object; A hoisting drum is configured to connect to the hook and control the hoisting of the hook; as well as The processor as described in claim 25.

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